6 papers · 1 filter
The Evaluation Cost of Task Specialization in Evolutionary Multi-Robot Systems
Paolo Leopardi, Heiko Hamann, Jonas Kuckling +1
Task specialization can improve the efficiency of multi-robot systems (MRSs). Previous works have investigated the emergence of task-specialist robot controllers through evolutiona…
On the Cost of Evolving Task Specialization in Multi-Robot Systems
Paolo Leopardi, Heiko Hamann, Jonas Kuckling +1
Task specialization can lead to simpler robot behaviors and higher efficiency in multi-robot systems. Previous works have shown the emergence of task specialization during evolutio…
Generative adversarial imitation learning for robot swarms: Learning from human demonstrations and trained policies
Mattes Kraus, Jonas Kuckling
In imitation learning, robots are supposed to learn from demonstrations of the desired behavior. Most of the work in imitation learning for swarm robotics provides the demonstratio…
How Swarms Differ: Challenges in Collective Behaviour Comparison
André Fialho Jesus, Jonas Kuckling
Collective behaviours often need to be expressed through numerical features, e.g., for classification or imitation learning. This problem is often addressed by proposing an ad-hoc…
Bayesian Decentralized Decision-making for Multi-Robot Systems: Sample-efficient Estimation of Event Rates
Gabriel Aguirre, Simay Atasoy Bingöl, Heiko Hamann +1
Effective collective decision-making in swarm robotics often requires balancing exploration, communication and individual uncertainty estimation, especially in hazardous environmen…
Do We Run Large-scale Multi-Robot Systems on the Edge? More Evidence for Two-Phase Performance in System Size Scaling
Jonas Kuckling, Robin Luckey, Viktor Avrutin +3
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such sys…